import cv2
import numpy as np

def fill_holes_inpaint(depth_img, inpaint_radius=5):
    """ Fill holes in depth image using inpainting """
    mask = (depth_img == 0).astype(np.uint8)
    depth_img_inpaint = cv2.inpaint(depth_img, mask, inpaint_radius, cv2.INPAINT_TELEA)
    return depth_img_inpaint
